CN111143488A

CN111143488A - POI position determining method and device

Info

Publication number: CN111143488A
Application number: CN201811314556.2A
Authority: CN
Inventors: 徐宁
Original assignee: Alibaba Group Holding Ltd
Current assignee: Alibaba Group Holding Ltd
Priority date: 2018-11-06
Filing date: 2018-11-06
Publication date: 2020-05-12
Anticipated expiration: 2038-11-06
Also published as: CN111143488B

Abstract

The invention discloses a method and a device for determining a POI position, relates to the technical field of electronic maps, and mainly aims to improve the accuracy of POI position determination. The main technical scheme of the invention is as follows: acquiring a reference point for determining the position of the POI from a pre-generated set of reference points as a target reference point according to the acquisition position of the POI, wherein the reference point is generated according to an acquisition road for acquiring the POI and background map data of the acquisition road; determining a position reference line parallel to the acquisition road according to the distance from the target reference point to the acquisition road; and determining the position of the POI on the position reference line according to the acquisition position and the actual acquisition direction of the POI. The method and the device are mainly used for determining the position of the POI.

Description

POI position determining method and device

Technical Field

The invention relates to the technical field of electronic maps, in particular to a method and a device for determining a POI position.

Background

A Point Of Interest (POI) is an information point with geospatial characteristics. Residential districts, parks, schools, restaurants, malls, etc. in the real world can all be expressed by points of interest. In practical applications, a user may search for and select a desired POI (e.g., a restaurant) through the map navigation application, and arrive at the POI according to a navigation plan provided by the map navigation application. From the application scenario, it is important for the user to smoothly reach the POI to determine the accuracy of the POI location.

At present, outdoor collection operators generally use handheld devices to shoot POI on two sides of a road, the positioning information of the handheld device and the shooting direction angle are recorded during shooting, and then the position of the POI is obtained through the positioning information of the handheld device, the shooting direction angle and the distance between the POI on two sides of the shot road and the handheld device, and the inventor finds that the distance between the POI on two sides of the existing road and the handheld device is generally determined by a preset empirical value or a manual offline measuring and calculating mode, and the finally determined position of the POI and the actual position have errors easily due to the adoption of the preset empirical value, and the manual offline measurement has the problems of high cost and low efficiency on the one hand, and errors also exist in the manual offline measurement on the other hand, so that a technical scheme capable of ensuring the accuracy of the position of the POI is required to be provided.

Disclosure of Invention

In view of the above problems, the present invention provides a method and an apparatus for determining a POI location, and a main objective of the present invention is to improve the accuracy of determining the POI location.

In order to achieve the purpose, the invention mainly provides the following technical scheme:

in one aspect, the present invention provides a method for determining a POI location, which specifically includes:

acquiring a reference point for determining the position of the POI from a pre-generated set of reference points as a target reference point according to the acquisition position of the POI, wherein the reference point is generated according to an acquisition road for acquiring the POI and background map data of the acquisition road;

determining a position reference line parallel to the acquisition road according to the distance from the target reference point to the acquisition road;

and determining the position of the POI on the position reference line according to the acquisition position and the actual acquisition direction of the POI.

In another aspect, the present invention provides an apparatus for determining a POI location, which specifically includes:

the system comprises a reference point acquisition unit, a target determination unit and a control unit, wherein the reference point acquisition unit is used for acquiring a reference point for determining the position of the POI from a pre-generated set of reference points according to the acquisition position of the POI, and the reference point is generated according to an acquisition road for acquiring the POI and background map data of the acquisition road;

the reference line determining unit is used for determining a position reference line parallel to the acquisition road according to the distance from the target reference point acquired by the reference point acquiring unit to the acquisition road;

and the POI position calculating unit is used for determining the position of the POI on the position reference line determined by the reference line determining unit according to the acquisition position and the actual acquisition direction of the POI.

On the other hand, based on the above method for determining the position of the POI, the present invention further provides a method for determining a reference point, which specifically includes:

sampling on a collection road according to a preset sampling interval distance to obtain more than one sampling point;

acquiring background map data of the acquired road according to a preset task acquisition direction of the acquired road in a preset map database;

acquiring intersection points of rays taking sampling points as starting points and the preset task acquisition direction as a direction and roads and building outlines in the background map data of the acquired roads;

storing the intersection point of the acquisition road and the road as a road reference point of the acquisition road;

and storing the intersection point of the collected road and the building outline as a building reference point of the collected road.

On the other hand, the invention also provides a device for determining the reference point, which specifically comprises:

the sampling point acquisition unit is used for sampling on an acquisition road according to a preset sampling interval distance to obtain more than one sampling point;

the map data acquisition unit is used for acquiring background map data of the acquired road in a preset map database according to a preset task acquisition direction of the acquired road;

the intersection point acquisition unit is used for acquiring intersection points of the rays which take the sampling points acquired by the sampling point acquisition unit as starting points and the preset task acquisition direction as the direction and the road and building outlines in the background map data of the acquired road acquired by the map data acquisition unit;

a road reference point determining unit, configured to store, as a road reference point of the collected road, an intersection point of the collected road and the road in the intersection points obtained by the intersection point obtaining unit;

and the building reference point determining unit is used for storing the intersection point of the acquired road and the building outline in the intersection points acquired by the intersection point acquiring unit as the building reference point of the acquired road.

In another aspect, the present invention provides a processor for executing a program, where the program executes the method for determining the position of the POI and/or the method for determining the reference point.

By means of the technical scheme, the method and the device for determining the position of the POI mainly determine a target reference point for determining the position of the POI from a pre-generated set of reference points based on the acquisition position of the POI, determine a position reference line parallel to an acquisition road according to the target reference point, and determine the position of the POI on the position reference line according to the acquisition position and the actual acquisition direction of the POI. Compared with the prior method of determining the position of the POI by taking the measured value measured and calculated under the preset empirical value or the artificial line as the distance between the acquisition position and the actual position of the POI, the method utilizes the background map data of the acquisition road, selects a target reference point from a plurality of reference points pre-generated based on the background map data by the acquisition position and the acquisition road, and sets a position reference line for determining the position of the POI based on the target reference point, because the background map data is accurate, the reference point of the acquisition road obtained based on the background map data is also accurate, so that the relative position difference between the acquisition position and the actual position of the POI can be obtained based on the reference point, and for different POIs, because the corresponding acquisition positions are different, the determined target reference points are also different, and the determined position reference line also changes along with the acquisition position of the POI and the change of the background map data, therefore, compared with the prior art of setting the distance through an empirical value, the method and the device can improve the position accuracy of the POI, and on the other hand, compared with manual actual measurement, the method and the device can reduce the cost and improve the efficiency.

In addition, according to the method and the device for determining the reference points, provided by the invention, a plurality of sampling points are obtained along the collection road, the background map data of the corresponding collection road is obtained according to the task collection direction, and then the reference points of the corresponding collection road are determined, and the reference points can be used for determining the position of the POI. In the invention, the determined reference points are mainly road reference points and building reference points, roads and buildings are determined based on the background map data, and the background map data is accurate, so the positions of the reference points are also accurate, and the accuracy of the determined positions of the POI can be improved based on the reference points.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:

fig. 1 is a flowchart illustrating a method for determining a POI location according to an embodiment of the present invention;

FIG. 2 is a flow chart illustrating a method of determining a target reference point in an embodiment of the present invention;

FIG. 3 is a graphical illustration of determining a reference point screening area in an embodiment of the invention;

FIG. 4 is a graphical illustration of determining a position reference line in an embodiment of the present invention;

FIG. 5 is a graphical illustration of calculating the position of a POI in an embodiment of the present invention;

FIG. 6 is a flow chart illustrating a method for verifying whether a POI is valid in an embodiment of the present invention;

FIG. 7 is a graphical illustration of verifying a POI in an embodiment of the present invention;

fig. 8 is a flowchart illustrating a method for determining a reference point according to an embodiment of the present invention;

FIG. 9 is a diagram illustrating an embodiment of obtaining a background reference point in an electronic map;

fig. 10 is a block diagram showing a POI position determination apparatus according to an embodiment of the present invention;

fig. 11 is a block diagram showing another POI position determination apparatus according to an embodiment of the present invention;

FIG. 12 is a block diagram illustrating a reference point determining apparatus according to an embodiment of the present invention;

fig. 13 is a block diagram showing another reference point determination apparatus according to an embodiment of the present invention.

Detailed Description

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

The embodiment of the invention provides a method for determining the position of a POI, which is applied to determining the position of a collected POI. The specific steps of the method are shown in fig. 1, and the method comprises the following steps:

step 101, acquiring a reference point for determining the position of the POI from a pre-generated set of reference points as a target reference point according to the acquisition position of the POI.

In order to improve efficiency of POI location determination, in the embodiment of the present invention, the reference point is generated in advance according to a collected road where the POI is collected and background map data of the collected road. The road collection method comprises the steps that a road appointed when the POI is collected, when a field worker receives a task of collecting the POI, the POI on the appointed side of the collected road needs to be collected along the collected road, generally, the field worker collects the POI in a mode of taking pictures or videos by using a camera device of collection equipment, meanwhile, the collection equipment records the positions during shooting, the positions are processed to be the collection positions of the POI, the collection positions of the POI are different from the (actual) positions of the POI, and the positions of the POI can be determined by the method provided by the embodiment of the invention. Further, gather the POI of which side, can gather the direction through the task and appoint, in order to guarantee the collection quality of POI, the direction is gathered to the task generally sets for perpendicular to in advance and gathers the road, points to the one side of gathering the road.

In addition, the background map data of the collected roads is data extracted from a preset electronic map database, the background map data includes map data of roads, buildings, POIs and the like, and specifically includes a decision that which map data is the construction situation around the collected roads in the real world, and the above list does not indicate that each collected road necessarily includes the map data.

In this embodiment, there may be a plurality of reference points acquired according to the acquisition position of the POI, and one reference point needs to be selected as a target reference point for determining the position of the POI. During implementation, a corresponding target reference point may be selected according to the acquisition information of the POI, for example, a reference point closest to the acquisition position of the POI is selected as the target reference point, or a reference point closest to the acquisition road in the actual acquisition direction of the POI (i.e., the shooting direction when the image where the POI is located is shot) is selected as the target reference point.

And 102, determining a position reference line parallel to the acquisition road according to the distance from the target reference point to the acquisition road.

And 103, determining the position of the POI on the position reference line according to the acquisition position and the actual acquisition direction of the POI.

Specifically, if the actual acquisition direction is consistent with the task acquisition direction, the step is to draw a perpendicular line from the acquired acquisition position of the POI to the position reference line, and use the intersection point as the position of the POI.

And if the actual acquisition direction is not consistent with the task acquisition direction, determining that the intersection point of the ray taking the actual acquisition direction as the direction and the position reference line is determined as the position of the POI, wherein the intersection point of the ray taking the acquisition position of the POI to the foot of the acquisition road is taken as the starting point. In this case, the angle difference between the actual capturing direction and the task capturing direction needs to be within a certain range, and if the angle difference exceeds the certain range, the captured POI needs to be checked to ensure that the POI is valid.

It can be known from the foregoing embodiments that, in the method for determining a position of a POI according to an embodiment of the present invention, a target reference point is determined from a set of pre-generated reference points by using an acquisition position of the POI, a position reference line parallel to an acquisition road is determined by using the target reference point, and the position of the POI is determined in the position reference line according to the acquisition position and an actual acquisition direction of the POI. The target reference point is determined to be pre-generated based on the background map data of the collected road, and the background map data is accurate, so that the reference point of the collected road obtained based on the background map data is also accurate, and the relative position difference between the collected position of the POI and the actual position can be obtained based on the reference point, so that the more accurate position of the POI can be obtained. Moreover, for different POIs, due to the fact that the corresponding acquisition positions of the POIs are different, the determined target reference points are also different, and further the determined position reference line can also change along with the acquisition positions of the POIs and the change of background map data, therefore, compared with the prior art of setting the distance through experience values, the accuracy of the positions of the POIs can be improved by adopting the method and the device, and compared with manual actual measurement, the cost can be reduced and the efficiency can be improved.

Based on the foregoing content of the embodiment, in the method for determining a POI location provided in the embodiment of the present invention, since the selected target reference point directly relates to the actual positioning accuracy of the POI location, for this reason, in a preferred embodiment of the present invention, the following scheme may be adopted to determine the target reference point corresponding to the POI from multiple reference points, and specifically as shown in fig. 2, the method includes:

step 201, acquiring reference points around the acquisition position of the POI from a pre-generated set of reference points as reference points to be selected.

In this step, the reference points located around the acquisition position of the POI are acquired, and the reference points within a certain range (circular range, rectangular range, etc.) around the acquisition position of the POI may be acquired as the reference points to be selected. Of course, a more preferred embodiment is as follows:

first, the acquisition position of the POI is acquired and projected to the acquisition drop foot point of the acquisition road.

Secondly, translating the acquisition foot hanging point by a preset first distance along a preset task acquisition direction to obtain a central point.

The first distance is a preset empirical value, can be independently set according to the collection road, and can be set as the distance from the collection position of the field worker to the center line of the collection road in consideration of the fact that the field worker generally cannot walk at the center of the collection road to shoot, namely, the size of the first distance depends on the width of the collection road.

And thirdly, acquiring a screening area which takes the central point as the center of a circle and a preset second distance as the radius, namely the screening area is a circular area.

The second distance is also a preset empirical value, and in order to ensure that the screening area is on the side where the POI is collected on the collected road, the value of the second distance is smaller than the first distance.

Fourthly, acquiring a reference point positioned in the screening area from the pre-generated set of reference points as a reference point to be selected.

Taking fig. 3 as an example, a black arrow in the figure is an actual capturing direction of the POI, and a tail of the arrow is a capturing position of the POI. According to the acquisition position, an acquisition drop foot point of the POI on an acquisition road is determined to be A, the point A is translated by a first distance along a task acquisition direction (a direction perpendicular to the upward direction of the acquisition road and a direction pointed by a dotted arrow), and a point C is obtained, namely the length of a line segment AC is equal to the first distance, a circle in the figure is a screening area determined by taking the C as a circle center and the second distance as a radius, and a reference point in the screening area is a reference point to be selected.

Step 202, acquiring a candidate reference point with the minimum vertical distance of the acquired road from the candidate reference points as a target reference point.

Generally, there may be a plurality of reference points in the determined screening area, and based on the vertical distances of these reference points to the collection road, the reference point with the smallest vertical distance may be determined as the target reference point of the POI. And determining a straight line parallel to the acquisition road as a position reference line by using the target reference point to determine the position of the POI.

Further, since the pre-generated reference point in the embodiment mainly consists of a road reference point and a building reference point, the determined target reference points mainly include these two types of reference points, and when the target reference point belongs to a road reference point, since the POI generally does not appear in the road, but appears on both sides of the road, on the basis of the embodiment shown in fig. 2, the method further includes:

and step 203, judging whether the target reference point is a road reference point.

Specifically, the identification and judgment can be performed according to the attribute information of the reference point.

If the target reference point is not a road reference point, a position reference line is set with the target reference point determined in step 202, and the position of the POI is determined.

If the target reference point is a road reference point, step 204 is performed.

And step 204, translating the position reference line by a preset correction distance according to the type of the road reference point.

Wherein the preset correction distance is an empirical value.

In this embodiment, the preset correction distance may be set to different distances for different types of road reference points. The types of the road reference points are mainly divided into reference points of an uplink road, a downlink road and a road parallel to the uplink road and the downlink road in the electronic map. The up-down road refers to an up-down road or a down-down road relative to the collection road, such as a main road or a sub-road adjacent to the collection road, and the distance between the collection road and the up-down road is generally short. Generally, no POI appears in the area formed by the up-down road and the collection road, so when such a reference point is selected as a target reference point, the position of the target reference point needs to be translated by a positive distance along the task collection direction. Other road reference points except the upper and lower roads can be determined as parallel road reference points, and when such reference points are selected as target reference points, the position of the target reference points needs to be translated by a negative distance along the task acquisition direction. In practical application, the preset correction distance corresponding to the reference points of the up-down road is 10 meters, and the preset correction distance corresponding to the reference points of the parallel road is-15 meters. Therefore, the preset correction distance can be a negative value, namely, the preset correction distance is translated along the direction opposite to the acquisition direction, and the specific value also needs to be determined according to different areas and different acquisition tasks.

Taking fig. 4 as an example, a solid line a is a collection road, a dotted line B is an up-down road with respect to a, a dotted line C is a parallel road with respect to a, and a task collection direction is an upward direction perpendicular to the road a. Point M in the figure is a target reference point, which is a road reference point, and the road C is a parallel road relative to the acquisition road a, so that the point M needs to be translated in the direction opposite to the acquisition direction, i.e., translated downward, and the distance of movement is a preset correction distance, so as to obtain a solid line D, which is a position reference line parallel to a. If the point M is located in the up-down road B, the point M needs to be shifted upward by a preset correction distance to obtain a position reference line parallel to a.

Based on the embodiment shown in fig. 2, after determining the target reference point and determining the position reference line based on the target reference point, the position of the POI may be determined based on the position reference line, i.e., step 103 in the embodiment of fig. 1 is performed. For step 103 in the embodiment of fig. 1, a preferred embodiment for determining the position of the POI is:

and acquiring the position of the POI by taking the acquisition vertical foot point projected to the acquisition road from the acquisition position as a starting point and taking the intersection point of the ray taking the actual acquisition direction as the direction and the position reference line as the POI.

Taking fig. 5 as an example, an arrow in the figure points to an actual acquisition direction of the POI, the point a is an acquisition position, and after the position reference line is determined according to the above steps, the position of the POI is determined according to the actual acquisition direction of the POI. The task acquisition direction in the figure is the direction of the vertical acquisition road pointing to the position reference line. And when the actual acquisition direction of the point A is the same as the task acquisition direction, drawing a perpendicular line from the point A to the position reference line, and determining the intersection point C as the position of the POI. And the position of the POI in the graph is obviously different from the task acquisition direction, at the moment, a perpendicular line is drawn from the point A to the acquisition road, the foot point B is taken as a starting point, the actual acquisition direction is taken as a direction guide line, the guide line and the position reference line are intersected at a point D, and the coordinate of the point D is determined to be the position of the POI.

Considering that the actual collecting direction, i.e. the shooting direction, of the field worker when collecting the POI is not strictly according to the preset task collecting direction, when the included angle between the actual collecting direction and the task collecting direction is smaller than the preset threshold value, such as 15 ° and 20 °, it is determined that the actual collecting direction of the POI is consistent with the task collecting direction, and it is determined that the shooting of the POI is forward shooting. And for the angle of the included angle larger than the preset threshold value, determining that the shooting of the POI is lateral shooting, namely that the actual acquisition direction of the POI is inconsistent with the task acquisition direction.

In the actual capturing process, when a field worker laterally captures a POI, the capture road may be captured as the POI on the other side (the side designated by the non-task capturing direction) due to the problem of the capturing direction, and therefore, for the case where the POI is laterally captured, it is necessary to check whether the POI is valid, that is, to determine that the actual position of the POI is located on the side designated by the capture road.

In this embodiment, a preferred embodiment of verifying whether the POI collecting location is valid or not, as shown in fig. 6, includes:

step 301, judging whether an included angle between a ray taking the actual collecting direction as the direction and a standard ray is larger than a preset first angle threshold value or not, wherein the collecting plumbing foot point projected to the collecting road from the collecting position is taken as a starting point.

The starting point of the standard ray is an acquisition drop foot point, and the direction is a preset task acquisition direction. The first angle threshold is a predetermined angle value.

Specifically, referring to fig. 5, it is determined whether an included angle between the line segment BD and the line segment BC in the graph is greater than a first angle threshold. If the included angle is greater than the preset first angle threshold, it is determined that the capturing position of the POI is likely to be an invalid position, and then step 302 is executed. If the position of the point D is smaller than the position of the POI, the position of the POI is determined to be the valid position, and at this time, the point D may be directly determined to be the position of the POI according to the method shown in fig. 5.

Step 302, determining a collecting traveling direction according to a traveling track formed when the POI is collected.

The collecting travel direction can generate a travel track of field workers for executing a POI collecting task by acquiring a plurality of continuous collecting positions, and the collecting travel direction is determined according to the direction of the travel track.

And step 303, judging whether a vanishing point of the image shot when the POI is collected is located in the direction pointed by the collecting advancing direction, if so, determining that the collecting position of the POI is an effective position.

Specifically, as shown in fig. 7, when the image is shot in the side direction, the shape of the object in the image may be distorted and deformed, and when the image is shot in the forward direction, the lines in the object are parallel to each other.

This step is to determine whether the direction of the vanishing point relative to the image (the vanishing point is located on the right side of the image in fig. 7) is consistent with the direction to which the collecting travel direction points (that is, when the field worker faces the task collecting direction, the collecting travel direction points to the left side or the right side of the field worker), and if so, it is determined that the collecting position of the POI is a valid position, and the position of the POI can be further determined, otherwise, it is determined that the collecting position of the POI is an invalid position, and the position of the POI does not need to be calculated again, but the specific position of the POI is further verified by manual processing.

In addition to the above-described manner of verifying whether the POI capture location is valid as shown in fig. 6, the present invention may also perform verification in other manners. To verify whether the POI capture location is valid, another possible embodiment is as follows:

firstly, according to a travel track formed when the POI is collected, a collection travel direction is determined.

And secondly, judging whether an included angle between the ray and the collection road along the collection traveling direction is smaller than a preset second angle threshold value.

The ray in this step is the same as the ray in step 301, and both the ray in this step and the ray in step 301 are rays with the collection vertical foot point projected to the collection road at the collection position as the starting point and the actual collection direction as the direction.

The second angle threshold is a preset angle value, which may be the same as or different from the first angle threshold. If the direction of the standard ray is perpendicular to the direction of the collecting and advancing, the second angle threshold and the first angle threshold are complementary angles.

And finally, judging whether a vanishing point of the image shot when the POI is collected is located in the direction pointed by the collecting advancing direction, and if so, determining that the collecting position of the POI is an effective position.

Compared with the verification mode in the embodiment of fig. 6, the mode mainly judges the specific degree of lateral shooting of the field worker based on the acquisition advancing direction and the actual acquisition direction of the POI, and determines whether the acquisition position of the POI is valid or not by judging the direction of the vanishing point in the image after reaching a certain degree.

Through the detailed description of the steps in fig. 1, fig. 2, and fig. 6, it can be seen that the method for determining the position of a POI according to the present invention is based on the acquisition position of the POI, selects one of a plurality of pre-generated reference points as a target reference point, determines a position reference line with the target reference point, and determines the corresponding POI positions from the position reference line according to the actual acquisition direction of the POI for the forward shooting and the side shooting, respectively. In addition, the invention also aims at the situation of lateral shooting, and further verifies the validity of the acquisition position of the POI to improve the positioning accuracy of the POI position in order to prevent the situation that the acquired POI is the POI at the other side of the embrocation road.

The specific implementation of determining the POI location using the target reference point is described in detail in the above embodiments, but to implement the above embodiments, a plurality of pre-generated reference points corresponding to the POI-based acquisition location need to be obtained first, and then a target reference point is selected from the reference points. How to generate and obtain the reference point, the present invention will be described by the following embodiments in conjunction with the content shown in fig. 8, and the specific steps include:

step 401, sampling on a collection road according to a preset sampling interval distance to obtain more than one sampling point.

Step 402, obtaining background map data of the collected road according to a preset task collecting direction of the collected road in a preset map database.

The background map data of the collected roads is data extracted from a preset electronic map database, the background map data includes map data of roads, buildings, POIs and the like, the specific included map data is determined according to construction conditions around the collected roads in the real world, and the above list does not show that each collected road necessarily includes the map data.

In this embodiment, the background map data is map data on the side to which the task acquisition direction points is acquired based on the acquisition road to limit the amount of the acquired data, which reduces the data processing efficiency. In the actual collection task, the POI collected by the field staff has a certain range from the collection position, such as the shooting distance of the collection device, or the height of the surrounding building, so that when the background map data is obtained, a preset distance can be further set to limit the range, and the background map data pointing to the preset distance along the task collection direction from the collection road is obtained, thereby effectively controlling the data volume of the obtained map data.

And step 403, acquiring intersection points of the rays taking the sampling points as starting points and the preset task acquisition direction as the direction and the road and building outlines in the background map data of the acquired road.

And step 404, storing the intersection point of the collected road and the road as a road reference point of the collected road.

And 405, storing the intersection point of the collected road and the outline of the building as a building reference point of the collected road.

By executing the steps, the road reference point and the building reference point corresponding to the background map data in the map database based on the acquired road can be acquired.

In addition, because the reference point generated in the present invention is for determining the position of the POI, in addition to the road reference point and the building reference point obtained based on the sampling point and the background map data, in order to improve the positioning accuracy of the position of the POI, the POI reference point not obtained based on the sampling point in the background map data may be added to improve the total number of the reference points and the distribution dispersion degree on one side of the collected road, and the specific way of obtaining the POI reference point is as follows: POI in the background map data of the collected road, which are data points having accurate positions that have been labeled in the electronic map, are retrieved and stored as points of interest reference (POI reference points) of the collected road.

Further, when storing the road reference point, the embodiment marks the corresponding road reference point type according to the position relationship between the road where the road reference point is located and the collected road, the road reference point type is mainly divided into the road reference points of the uplink and downlink road and the parallel road, and the specific way of identifying the road reference point type is as follows:

first, it is determined whether or not a POI in the background map data exists in a constituent area of the collected road and the road having the intersection. Namely, whether the POI reference point exists in the area formed by the collected road and the road where the road reference point is located is judged.

And secondly, if the POI reference point does not exist in the area, marking the road reference point corresponding to the intersection point as an uplink and downlink road reference point, otherwise, marking the road reference point corresponding to the intersection point as a parallel road reference point.

When the types of the road reference points are marked, generally, all the stored road reference points are uniformly identified, so that the roads where the road reference points are located may be a plurality of roads, and when a plurality of roads which need to be judged exist, whether POI reference points exist in an area formed by each road and the collected road can be specifically judged one by one. However, this determination method may have a problem of repeatedly detecting the same area, and therefore, a preferred determination method in this embodiment is to first determine whether a POI reference point exists in an area formed by a road adjacent to the collected road and the collected road according to a distance from the collected road, and if not, further determine whether another road adjacent to the adjacent road exists in an area formed by the road adjacent to the collected road and the collected road, and so on, so as to avoid the problem of repeatedly determining the same area and improve the efficiency of determining and detecting.

The steps shown in fig. 8 will be explained below by way of example with reference to fig. 9. As shown in fig. 9, a straight line a in the drawing is a captured road, a direction pointing above the captured road is used as a task capturing direction (in general, the task capturing direction is mostly a direction set perpendicular to the captured road), and map data displayed on one side above the captured road is acquired from a preset map database as background map data including roads, buildings, and labeled POIs. The corresponding reference points are acquired through the background map data.

In fig. 9, a row of points above the acquisition road a are sampling points obtained by sampling according to a preset sampling interval distance. The dotted arrow pointing upwards in the figure is based on sampling points and rays led along the task acquisition direction, the intersection points of the rays and the buildings in the background map data are road reference points and building reference points corresponding to the acquired roads, wherein the road reference points are divided into uplink and downlink road reference points and parallel road reference points according to whether POI reference points exist in the area formed by the roads where the road reference points are located and the acquired roads, and the points which are not on the rays in the figure are marked POI reference points in the background map data.

Further, as an implementation of the methods shown in fig. 1, fig. 2 and fig. 6, the embodiment of the present invention provides an apparatus for determining a position of a POI, which is mainly applied to determine the position of the POI more accurately and conveniently. For convenience of reading, details in the foregoing method embodiments are not described in detail again in this apparatus embodiment, but it should be clear that the apparatus in this embodiment can correspondingly implement all the contents in the foregoing method embodiments. As shown in fig. 10, the apparatus specifically includes:

a reference point acquiring unit 51, configured to acquire, according to an acquisition position of a POI, a reference point used for determining a position of the POI from a pre-generated set of reference points as a target reference point, where the reference point is generated according to an acquisition road on which the POI is acquired and background map data of the acquisition road;

a reference line determining unit 52, configured to determine a position reference line parallel to the collection road according to the distance from the target reference point acquired by the reference point acquiring unit 51 to the collection road;

and the POI position calculating unit 53 is configured to determine the position of the POI on the position reference line determined by the reference line determining unit 52 according to the acquisition position and the actual acquisition direction of the POI.

Further, as shown in fig. 11, the reference point acquiring unit 51 includes:

a candidate reference point acquiring module 511, configured to acquire, from the set of pre-generated reference points, reference points located around the acquisition position of the POI as candidate reference points;

a target reference point acquiring module 512, configured to acquire, from the candidate reference points acquired by the candidate reference point acquiring module 511, a candidate reference point with a minimum vertical distance of the acquired road as a target reference point.

Further, as shown in fig. 11, the candidate reference point obtaining module 511 includes:

the acquisition drop foot point acquisition submodule 5111 is configured to acquire an acquisition drop foot point at which the acquisition position of the POI is projected to the acquisition road;

a central point determining submodule 5112, configured to translate the acquired foot drop point obtained by the acquired foot drop point obtaining submodule 5111 along a preset task acquisition direction by a preset first distance to obtain a central point;

a screening area obtaining sub-module 5113, configured to obtain a screening area that takes the central point determined by the central point determining sub-module 5112 as a center of a circle and a preset second distance as a radius, where the second distance is smaller than the first distance;

a candidate reference point determining submodule 5114, configured to obtain, from the set of pre-generated reference points, a reference point located in the screening area determined by the screening area obtaining submodule 5113 as a candidate reference point.

Further, the POI position calculating unit 53 is specifically configured to, when determining the position of the POI, acquire an intersection point of a ray that projects the acquisition position to the acquisition road and the position reference line, where the intersection point is defined as a starting point, and the ray that takes the actual acquisition direction as a direction, and the position reference line is defined as the position of the POI.

Further, as shown in fig. 11, the apparatus further includes:

the acquisition advancing direction determining unit 54 is configured to determine whether an included angle between the ray and a standard ray is greater than a preset first angle threshold, and if so, determine an acquisition advancing direction according to an advancing track formed when the POI is acquired, where a starting point of the standard ray is the acquisition drop foot point, and a direction of the standard ray is a preset task acquisition direction;

the POI verifying unit 55 is configured to determine whether a vanishing point of the image captured when the POI is captured is located in the direction pointed by the capturing traveling direction determined by the capturing traveling direction determining unit 54, and if so, determine that the capturing position of the POI is a valid position.

Further, as shown in fig. 11, the apparatus further includes:

a collecting travel direction determining unit 54 configured to determine a collecting travel direction according to a travel track formed when the POI is collected;

and the POI verification unit 55 is used for judging whether an included angle between the ray and the collected road along the collection advancing direction is smaller than a preset second angle threshold value, if so, judging whether a vanishing point of an image shot during the collection of the POI is located in the direction pointed by the collection advancing direction, and if so, determining that the collection position of the POI is an effective position.

Further, as shown in fig. 11, before the POI position calculating unit 53 determines the position of the POI on the position reference line according to the acquisition position and the actual acquisition direction of the POI, the apparatus further includes:

a judgment unit 56 for judging whether the reference point acquisition unit 51 determines that the target reference point is a road reference point,

a distance correcting unit 57, configured to, when the judging unit 56 determines that the target reference point is the road reference point, translate the position reference line by a preset correction distance according to the type of the road reference point.

In addition, as an implementation of the method shown in fig. 8, an embodiment of the present invention provides a device for determining a reference point, where the device is mainly used to generate a corresponding reference point according to a collection road specified in a collection task. For convenience of reading, details in the foregoing method embodiments are not described in detail again in this apparatus embodiment, but it should be clear that the apparatus in this embodiment can correspondingly implement all the contents in the foregoing method embodiments. As shown in fig. 12, the apparatus specifically includes:

the sampling point acquisition unit 61 is used for sampling on an acquisition road according to a preset sampling interval distance to obtain more than one sampling point;

the map data acquisition unit 62 is configured to acquire background map data of the acquired road in a preset map database according to a preset task acquisition direction of the acquired road;

an intersection point obtaining unit 63, configured to obtain an intersection point between a ray that takes the sampling point acquired by the sampling point acquiring unit 61 as a starting point and takes the preset task acquisition direction as a direction and a road and a building contour in the background map data of the acquired road obtained by the map data obtaining unit 62;

a road reference point determining unit 64 configured to store, as a road reference point of the collected road, an intersection point of the collected road and the road among the intersection points obtained by the intersection point obtaining unit 63;

a building reference point determining unit 65 configured to store, as a building reference point of the collected road, an intersection of the collected road and the building outline among the intersections acquired by the intersection acquiring unit 63.

Further, as shown in fig. 13, the apparatus further includes:

a POI retrieving unit 66, configured to retrieve POIs of the collected roads in the background map data acquired by the map data acquiring unit 62;

and the POI reference point determining unit 67 is configured to store the POI obtained by the POI retrieving unit 66 as an interest reference point of the collected road.

Further, as shown in fig. 13, the apparatus further includes:

an area determination unit 68 configured to determine whether there is a POI in the background map data retrieved by the POI retrieval unit 66 in the area formed by the acquired road and the road having the intersection;

a road reference point marking unit 69, configured to mark the road reference point corresponding to the intersection point as an uplink and downlink road reference point when the area determination unit 68 determines that there is no POI, and otherwise mark the road reference point corresponding to the intersection point as a parallel road reference point.

Further, the map data acquiring unit 62 is specifically configured to acquire, in a preset map database, map data that is located on one side of the collection road and has a distance to the collection road within a preset distance range, as background map data of the collection road, where the collection road side is a side to which a preset collection direction of the collection road points.

In summary, the method and apparatus for determining a POI location used in the embodiments of the present invention mainly determine a target reference point for determining the POI location from pre-generated reference points based on the acquisition location of the POI, determine a location reference line parallel to the acquisition road with the target reference point, and determine a point on the location reference line as the location of the POI according to the acquisition location of the POI and the actual acquisition direction. Because the position obtained by the method is located near the target reference point, the position is more consistent with the position of the POI in the actual environment, and therefore, the position of the POI determined by the method is closer to the actual position of the POI, and the accuracy of the POI positioning is improved. Meanwhile, the method also distinguishes the conditions of normal shooting and lateral shooting according to the actual acquisition direction of the POI, and further verifies the shot POI for the condition of lateral shooting to ensure that the shot POI is positioned in the range appointed by the acquisition task, thereby avoiding the error of marking the POI which does not belong to the range in the range and improving the accuracy of the execution result of the whole acquisition task.

In addition, in the process of determining the position of the POI, the method and the device are applied to the reference point corresponding to the collected road, and therefore, the invention also provides a method and a device for determining the reference point, which are used for determining the corresponding reference point aiming at the collected road in the collection task. And the POI can be more accurately positioned by screening the reference points, so that the positioning accuracy of the POI position is improved.

In addition, an embodiment of the present invention further provides a processor, where the processor is configured to execute a program, where the program executes a method for determining a POI location shown in fig. 1, 2, and 6 or a method for determining a reference point shown in fig. 8.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

It will be appreciated that the relevant features of the method and apparatus described above are referred to one another. In addition, "first", "second", and the like in the above embodiments are for distinguishing the embodiments, and do not represent merits of the embodiments.

It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.

In addition, the memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.

The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.

Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.

It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.

The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims

1. A method for determining a location of a POI, the method comprising:

2. The method of claim 1, wherein obtaining, from a pre-generated set of reference points, one reference point for determining the position of the POI as a target reference point according to the acquisition position of the POI comprises:

acquiring reference points around the acquisition position of the POI from the pre-generated set of reference points as reference points to be selected;

and acquiring one to-be-selected reference point with the minimum vertical distance of the acquisition road from the to-be-selected reference points as a target reference point.

3. The method according to claim 2, wherein obtaining, from the set of pre-generated reference points, reference points located around the acquisition position of the POI as reference points to be selected specifically comprises:

acquiring a collecting foot point of the POI projected to the collecting road;

translating the acquisition foot hanging point by a preset first distance along a preset task acquisition direction to obtain a central point;

acquiring a screening area which takes the central point as a circle center and a preset second distance as a radius, wherein the second distance is smaller than the first distance;

and acquiring a reference point positioned in the screening area from the pre-generated set of reference points as a reference point to be selected.

4. The method according to any one of claims 1-3, wherein determining the position of the POI on the position reference line based on the acquisition position and the actual acquisition direction of the POI comprises:

and acquiring an intersection point of a ray which takes the acquisition position as a projection to the acquisition road and the position reference line as the position of the POI, wherein the intersection point takes the actual acquisition direction as the direction and the acquisition vertical foot point as a starting point.

5. The method of claim 4, further comprising:

judging whether an included angle between the ray and a standard ray is larger than a preset first angle threshold value or not, if so, determining an acquisition advancing direction according to an advancing track formed when the POI is acquired, wherein the starting point of the standard ray is the acquisition drop foot point, and the direction is a preset task acquisition direction;

and judging whether a vanishing point of an image shot when the POI is collected is located in the direction pointed by the collecting advancing direction, if so, determining that the collecting position of the POI is an effective position.

6. The method of claim 4, further comprising:

determining a collecting advancing direction according to an advancing track formed when the POI is collected;

judging whether an included angle between the ray and the collected road along the collected travelling direction is smaller than a preset second angle threshold value or not, if so, judging whether a vanishing point of an image shot during the collection of the POI is located in the direction pointed by the collected travelling direction or not, and if so, determining that the collected position of the POI is an effective position.

7. The method according to any one of claims 1-3, wherein prior to determining the position of the POI on the position reference line based on the acquisition position and the actual acquisition direction of the POI, the method further comprises:

judging whether the target reference point is a road reference point,

if so, translating the position reference line by a preset correction distance according to the type of the road reference point.

8. A method for determining a reference point, the method comprising:

9. The method of claim 8, further comprising:

retrieving POI in the background map data of the collected roads;

and storing the POI as an interest reference point of the collected road.

10. The method according to claim 8 or 9, characterized in that the method further comprises:

judging whether POI in the background map data exists in the composition area of the acquisition road and the road with the intersection point;

if not, the road reference point corresponding to the intersection point is marked as an uplink and downlink road reference point, otherwise, the road reference point corresponding to the intersection point is marked as a parallel road reference point.

11. The method according to claim 8 or 9, wherein the obtaining of the background map data of the collected roads in the preset map database according to the preset task collection direction of the collected roads specifically comprises:

in a preset map database, obtaining map data which is located on one side of the collection road and has a distance to the collection road within a preset distance range as background map data of the collection road, wherein the collection road side is the side, to which the preset task collection direction of the collection road points.

12. An apparatus for determining a position of a POI, the apparatus comprising:

13. An apparatus for determining a reference point, the apparatus comprising:

14. A processor for executing a computer program, wherein the computer program executes the method for determining the position of a POI according to any one of claims 1 to 7 or the method for determining a reference point according to any one of claims 8 to 11.